com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode

Interface CustomParametersPayloadNodeConfig

All Superinterfaces:

PayloadNodeConfig

@ProviderType
public interface CustomParametersPayloadNodeConfig
extends PayloadNodeConfig

This interface represents a configuration of the Set Payload node which is using custom payload parameters. The specified custom payload parameters can be accessed with this interface.

Since:

1.13.0

Nested Class Summary

Nested classes/interfaces inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode.PayloadNodeConfig

PayloadNodeConfig.ConfigType

Method Summary

Modifier and Type	Method and Description
Position	getCenterOfGravity() Gets the payload's center of gravity (CoG), also referred to as center of mass.
Mass	getMass()
Time	getTransitionTime()

Methods inherited from interface com.ur.urcap.api.domain.program.nodes.builtin.configurations.setpayloadnode.PayloadNodeConfig

getConfigType

Method Detail

getMass

Mass getMass()

Returns:

The total mass of the payload

getCenterOfGravity

Position getCenterOfGravity()

Gets the payload's center of gravity (CoG), also referred to as center of mass. It is defined as the offset between the center of the tool output flange and the center of gravity of the attached payload.

Returns:

The center of gravity (CoG) of the payload relative to the center of the tool output flange

getTransitionTime

Time getTransitionTime()

Returns:

The defined transition time when ramping to this payload. The Transition time is the time used to ramp the payload from the robot's current active payload to this payload.

Since:

1.14.0